Search results for: horizontal force

Authors: Ke Lu, Tetsuya Furukawa

Abstract:

Data objects are usually organized hierarchically, and the relations between them are analyzed based on a corresponding concept hierarchy. The relation between data objects, for example how similar they are, are usually analyzed based on the conceptual distance in the hierarchy. If a node is an ancestor of another node, it is enough to analyze how close they are by calculating the distance vertically. However, if there is not such relation between two nodes, the vertical distance cannot express their relation explicitly. This paper tries to fill this gap by improving the analysis method for data objects based on hierarchy. The contributions of this paper include: (1) proposing an improved method to evaluate the vertical distance between concepts; (2) defining the concept horizontal distance and a method to calculate the horizontal distance; and (3) discussing the methods to confine a range by the horizontal distance and the vertical distance, and evaluating the relation between concepts.

Keywords: Concept Hierarchy, Horizontal Distance, Relation Analysis, Vertical Distance

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1193

Authors: Doo W. Lee, Soo J. Lee, Bye R. Yoon, Jae Y. Jho, Kyehan Rhee

Abstract:

Hand exoskeletons have been developed in order to assist daily activities for disabled and elder people. A figure exoskeleton was developed using ionic polymer metal composite (IPMC) actuators, and the performance of it was evaluated in this study. In order to study dynamic performance of a finger dummy performing pinching motion, force generating characteristics of an IPMC actuator and pinching motion of a thumb and index finger dummy actuated by IMPC actuators were analyzed. The blocking force of 1.54 N was achieved under 4 V of DC. A thumb and index finger dummy, which has one degree of freedom at the proximal joint of each figure, was manufactured by a three dimensional rapid prototyping. Each figure was actuated by an IPMC actuator, and the maximum fingertip force was 1.18 N. Pinching motion of a dummy was analyzed by two video cameras in vertical top and horizontal left end view planes. A figure dummy powered by IPMC actuators could perform flexion and extension motion of an index figure and a thumb.

Keywords: Finger exoskeleton, ionic polymer metal composite, flexion and extension, motion analysis.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1842

Authors: Wang Zhan-Xi, Zhang Yi-Ming, Chen Hang, Wang Gang

Abstract:

Manual polishing has problems such as high labor intensity, low production efficiency and difficulty in guaranteeing the consistency of polishing quality. The use of robot polishing instead of manual polishing can effectively avoid these problems. Polishing force directly affects the quality of polishing, so accurate tracking and control of polishing force is one of the most important conditions for improving the accuracy of robot polishing. The traditional force control strategy is difficult to adapt to the strong coupling of force control and position control during the robot polishing process. Therefore, based on the analysis of force-based impedance control and position-based impedance control, this paper proposed a type of adaptive controller. Based on force feedback control of active compliance control, the controller can adaptively estimate the stiffness and position of the external environment and eliminate the steady-state force error produced by traditional impedance control. The simulation results of the model show that the adaptive controller has good adaptability to changing environmental positions and environmental stiffness, and can accurately track and control polishing force.

Keywords: robot polishing, force feedback, impedance control, adaptive control

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 558

Authors: V. Arbabi , I. Ebrahimzadeh, H. Ghanbari, M.M. Kaykha

Abstract:

Horizontal continuous casting is widely used to produce semi-finished non-Ferrous products. Homogeneity in the metallurgical characteristics and mechanical properties for this product is vital for industrial application. In the present work, the microstructure and mechanical properties of a horizontal continuous cast two-phase brass billet have been studied. Impact strength and hardness variations were examined and the phase composition and porosity studied with image analysis software. Distinct differences in mechanical properties were observed between the upper, middle and lower parts of the billet, which are explained in terms of the morphology and size of the phase in the microstructure. Hardness variation in the length of billet is higher in upper area but impact strength is higher in lower areas.

Keywords: Horizontal Continuous Casting, Two-phase brasses, CuZn40Al1 alloy, Microstructure, Impact Strength.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2137

Authors: R. Hashemi, M.H.Kargarnovin

Abstract:

This paper presents the identification of the impact force acting on a simply supported beam. The force identification is an inverse problem in which the measured response of the structure is used to determine the applied force. The identification problem is formulated as an optimization problem and the genetic algorithm is utilized to solve the optimization problem. The objective function is calculated on the difference between analytical and measured responses and the decision variables are the location and magnitude of the applied force. The results from simulation show the effectiveness of the approach and its robustness vs. the measurement noise and sensor location.

Keywords: Genetic Algorithm, Inverse problem, Optimization, Vibration.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1510

Authors: Osama A. Marzouk

Abstract:

We propose a reduced-ordermodel for the instantaneous hydrodynamic force on a cylinder. The model consists of a system of two ordinary differential equations (ODEs), which can be integrated in time to yield very accurate histories of the resultant force and its direction. In contrast to several existing models, the proposed model considers the actual (total) hydrodynamic force rather than its perpendicular or parallel projection (the lift and drag), and captures the complete force rather than the oscillatory part only. We study and provide descriptions of the relationship between the model parameters, evaluated utilizing results from numerical simulations, and the Reynolds number so that the model can be used at any arbitrary value within the considered range of 100 to 500 to provide accurate representation of the force without the need to perform timeconsuming simulations and solving the partial differential equations (PDEs) governing the flow field.

Keywords: reduced-order model, wake oscillator, nonlinear, ODEsystem

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1518

Authors: Weifeng Wang, Guoqing Huang, Xianwei Zeng

Abstract:

The nearly 21-year-old Jiujiang Bridge, which is suffering from uneven line shape, constant great downwarping of the main beam and cracking of the box girder, needs reinforcement and cable adjustment. It has undergone cable adjustment for twice with incomplete data. Therefore, the initial internal force state of the Jiujiang Bridge is identified as the key for the cable adjustment project. Based on parameter identification by means of static force test data, this paper suggests determining the initial internal force state of the cable-stayed bridge according to the cable force-displacement relationship parameter identification method. That is, upon measuring the displacement and the change in cable forces for twice, one can identify the parameters concerned by means of optimization. This method is applied to the cable adjustment, replacement and reinforcement project for the Jiujiang Bridge as a guidance for the cable adjustment and reinforcement project of the bridge.

Keywords: Cable-stayed bridge, cable force-displacement, parameter identification, internal force state

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1498

Authors: Vinod Kumar, Navin Kumar, Surjit Angra, Prince Sharma

Abstract:

This paper presents the design analysis of saddle support of a horizontal pressure vessel. Since saddle have the vital role to support the pressure vessel and to maintain its stability, it should be designed in such a way that it can afford the vessel load and internal pressure of the vessel due to liquid contained in the vessel. A model of horizontal pressure vessel and saddle support is created in ANSYS. Stresses are calculated using mathematical approach and ANSYS software. The analysis reveals the zone of high localized stress at the junction part of the pressure vessel and saddle support due to operating conditions. The results obtained by both the methods are compared with allowable stress value for safe designing.

Keywords: ANSYS, Pressure Vessel, Saddle, Support.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 26037

Authors: Evgeniy Burlutskiy

Abstract:

The paper presents a one-dimensional transient mathematical model of thermal oil-water two-phase emulsion flows in pipes. The set of the mass, momentum and enthalpy conservation equations for the continuous fluid and droplet phases are solved. Two friction correlations for the continuous fluid phase to wall friction are accounted for in the model and tested. The aerodynamic drag force between the continuous fluid phase and droplets is modeled, too. The density and viscosity of both phases are assumed to be constant due to adiabatic experimental conditions. The proposed mathematical model is validated on the experimental measurements of oil-water emulsion flows in horizontal pipe [1,2]. Numerical analysis on single- and two-phase oil-water flows in a pipe is presented in the paper. The continuous oil flow having water droplets is simulated. Predictions, which are performed by using the presented model, show excellent agreement with the experimental data if the water fraction is equal or less than 10%. Disagreement between simulations and measurements is increased if the water fraction is larger than 10%.

Keywords: Mathematical model, Oil-Water, Pipe flows.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2256

Authors: Zeinab Galavani, Reza Rezaei-Nasirabad, Rasoul Sadighi-Bonabi

Abstract:

Using a force balanced translational-radial dynamics, phase space of the moving single bubble sonoluminescence (m- SBSL) in 85% wt sulfuric acid has been numerically calculated. This phase space is compared with that of single bubble sonoluminescence (SBSL) in pure water which has been calculated by using the mere radial dynamics. It is shown that in 85% wt sulfuric acid, in a general agreement with experiment, the bubble-s positional instability threshold lays under the shape instability threshold. At the onset of spatial instability of moving sonoluminescing (SL) bubble in 85% wt sulfuric acid, temporal effects of the hydrodynamic force on the bubble translational-radial dynamics have been investigated. The appearance of non-zero history force on the moving SL bubble is because of proper condition which was produced by high viscosity of acid. Around the moving bubble collapse due to the rapid contraction of the bubble wall, the inertial based added mass force overcomes the viscous based history force and induces acceleration on the bubble translational motion.

Keywords: Bjerknes force, History force, Reynolds number, Sonoluminescence.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1499

Authors: Fashad Amini, Lin Li

Abstract:

High performance turf reinforcement mat (HPTRM) is one of the most advanced flexible armoring technologies for severe erosion challenges. The effect of turbulence on the slope stability of an earthen levee strengthened by high performance turf reinforcement mat (HPTRM) is investigated in this study for combined storm surge and wave overtopping conditions. The results show that turbulence has strong influence on the slope stability during the combined storm surge and wave overtopping conditions. Among the surge height, peak wave force and turbulent force. The turbulent force has the ability to stabilize the earthen levee at the large wave force the turbulent force has strongest effect on the FS. The surge storm acts as an independent force on the slope stability of the earthen levee. It just adds to the effects of the turbulent force and wave force on the slope stability of HPTRM strengthened levee.

Keywords: Slope stability, strength reduction method, HPTRM, levee, overtopping.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2374

Authors: Roghayyeh Motallebzadeh, Shahin Hajizadeh, Mohammad Reza Ghasemi

Abstract:

Laminar mixed Convection heat transfer of a nanofluid with prescribed constant heat flux on the inner wall of horizontal annular tube has been studied numerically based on two-phase mixture model in different Rayleigh Numbers and Azimuth angles. Effects of applying of different volume fractions of Al₂O₃ nanoparticles in water as a base fluid on hydrodynamic and thermal behaviors of the fluid flow such as axial velocity, secondary flow, temperature, heat transfer coefficient and friction coefficient at the inner and outer wall region, has been investigated. Conservation equations in elliptical form has been utilized and solved in three dimensions for a steady flow. It is observed that, there is a good agreement between results in this work and previously published experimental and numerical works on mixed convection in horizontal annulus. These particles cause to increase convection heat transfer coefficient of the fluid, meanwhile there is no considerable effect on friction coefficient.

Keywords: Buoyancy force, Laminar mixed convection, Mixture model, Nanofluid, Two-phase.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2783

Authors: Nur Irmawati, H.A. Mohammed

Abstract:

In the present study, mixed convection in a horizontal rectangular duct using Al2O3 is numerically investigated. The effects of different Rayleigh number, Reynolds number and radiation on flow and heat transfer characteristics are studied in detail. This study covers Rayleigh number in the range of 2 × 10^6 ≤ Ra ≤ 2 × 10^7 and Reynolds number in the range of 100 ≤ Re ≤ 1100. Results reveal that the Nusselt number increases as Reynolds and Rayleigh numbers increase. It is also found that the dimensionless temperature distribution increases as Rayleigh number increases.

Keywords: Numerical simulation, Mixed convection, Horizontal rectangular duct, Nanofluids.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2324

Authors: Océane Grosset, Charles Pézerat, Jean-Hugh Thomas, Frédéric Ablitzer

Abstract:

This paper presents a method to take into account the fluid-structure coupling into an inverse method, the Force Analysis Technique (FAT). The FAT method, also called RIFF method (Filtered Windowed Inverse Resolution), allows to identify the force distribution from local vibration field. In order to only identify the external force applied on a structure, it is necessary to quantify the fluid-structure coupling, especially in naval application, where the fluid is heavy. This method can be decomposed in two parts, the first one consists in identifying the fluid-structure coupling and the second one to introduced it in the FAT method to reconstruct the external force. Results of simulations on a plate coupled with a cavity filled with water are presented.

Keywords: Fluid-structure coupling, inverse methods, naval, vibrations.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1118

Authors: Nawel Mezigheche, Abdelhacine Gouasmia, Allaeddine Athmani, Mouloud Merzoud

Abstract:

Masonry infill walls are inevitable in the selfsupporting structures, but their contribution in the resistance to earthquake loads is generally neglected in the structural analyses. The principal aim of this work through a numerical study of masonry infill walls behavior in structures subjected to horizontal load is to propose by finite elements numerical modeling, a more reliable approach, faster and close to reality. In this study, 3D Finite Element Analysis was developed to study the behavior of masonry infill walls in structures subjected to horizontal load; the finite element software being used was ABAQUS, it is observed that more rigidity of the masonry filling is significant, more the structure is rigid, we can so conclude that the filling brings an additional rigidity to the structure not to be neglected; it is also observed that when the framework is subjected to horizontal loads, the framework separates from the filling on the level of the tended diagonal.

Keywords: Finite element, Masonry infill walls, Rigidity of the masonry, Tended diagonal.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2078

Authors: S. Jarernprasert, E. Bazan-Zurita, P. C. Rizzo

Abstract:

Currently, seismic probabilistic risk assessments (SPRA) for nuclear facilities use In-Structure Response Spectra (ISRS) in the calculation of fragilities for systems and components. ISRS are calculated via dynamic analyses of the host building subjected to two orthogonal components of horizontal ground motion. Each component is defined as the median motion in any horizontal direction. Structural engineers applied the components along selected X and Y Cartesian axes. The ISRS at different locations in the building are also calculated in the X and Y directions. The choice of the directions of X and Y are not specified by the ground motion model with respect to geographic coordinates, and are rather arbitrarily selected by the structural engineer. Normally, X and Y coincide with the “principal” axes of the building, in the understanding that this practice is generally conservative. For SPRA purposes, however, it is desirable to remove any conservatism in the estimates of median ISRS. This paper examines the effects of the direction of horizontal seismic motion on the ISRS on typical nuclear structure. We also evaluate the variability of ISRS calculated along different horizontal directions. Our results indicate that some central measures of the ISRS provide robust estimates that are practically independent of the selection of the directions of the horizontal Cartesian axes.

Keywords: Seismic, Directionality, In-Structure Response Spectra, Probabilistic Risk Assessment.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2498

Authors: Ke Wang, Zhi-Qiang Zhang, Z. Chen

Abstract:

A submerged horizontal plate type breakwater is pointed out as an efficient wave protection device for cage culture in marine fishery. In order to reveal the wave elimination principle of this type breakwater, boundary element method is utilized to investigate this problem. The flow field and the trajectory of water particles are studied carefully. The flow field analysis shows that: the interaction of incident wave and adverse current above the plate disturbs the water domain drastically. This can slow down the horizontal velocity and vertical velocity of the water particles.

Keywords: boundary element method, plate type breakwater, flow field analysis

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2048

Authors: Nicolay Zarutskiy, Roman Bulkin

Abstract:

The paper deals with the existing methods of force-torque sensor calibration with a number of components from one to six, analyzed their advantages and disadvantages, the necessity of introduction of a calibration method. Calibration method and its constructive realization are also described here. A calibration method allows performing automated force-torque sensor calibration both with selected components of the main vector of forces and moments and with complex loading. Thus, two main advantages of the proposed calibration method are achieved: the automation of the calibration process and universality.

Keywords: Automation, calibration, calibration device, calibration method, force-torque sensors.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1255

Authors: Jiří Primas, Michal Malík, Darina Jašíková, Václav Kopecký

Abstract:

When a high DC voltage is applied to a capacitor with strongly asymmetrical electrodes, it generates a mechanical force that affects the whole capacitor. This is caused by the motion of ions generated around the smaller of the two electrodes and their subsequent interaction with the surrounding medium. If one of the electrodes is heated, it changes the conditions around the capacitor and influences the process of ionisation, thus changing the value of the generated force. This paper describes these changes and gives reasons behind them. Further the experimental results are given as proof of the ionic mechanism of the phenomenon.

Keywords: Capacitor with asymmetrical electrodes, Generated force, Heated electrode, High voltage.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1486

Authors: S. Dey, P. Sibanda, S. Gupta, A. Chakraborty

Abstract:

The occurrence of high nocturnal surface ozone over a tropical urban area (23̊ 32′16.99″ N and 87̊ 17′ 38.95″ E) is analyzed in this paper. Five incidences of nocturnal ozone maxima are recorded during the observational span of two years (June, 2013 to May, 2015). The maximum and minimum values of the surface ozone during these five occasions are 337.630 μg/m³ and 13.034 μg/m³ respectively. HYSPLIT backward trajectory analyses and wind rose diagrams support the horizontal transport of ozone from distant polluted places. Planetary boundary layer characteristics, concentration of precursor (NO₂) and meteorology are found to play important role in the horizontal and vertical transport of surface ozone during nighttime.

Keywords: Nocturnal ozone, planetary boundary layer, horizontal transport, meteorology, urban area.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1298

Authors: Hassam Ahmed, Yuanzhi Liu, Yassine Selami, Wei Tao, Hui Zhao

Abstract:

The purpose of this research is to develop a real time axial force measurement system for a smart bearing through the use of strain-gauges, whereby the data acquisition is performed by an Arduino microcontroller due to its easy manipulation and low-cost. The measured signal is acquired and then discretized using a Wheatstone Bridge and an Analog-Digital Converter (ADC) respectively. For bearing monitoring, a real time monitoring system based on Internet of things (IoT) and Bluetooth were developed. Experimental tests were performed on a bearing within a force range up to 600 kN. The experimental results show that there is a proportional linear relationship between the applied force and the output voltage, and the error R squared is within 0.9878 based on the regression analysis.

Keywords: Bearing, force measurement, IoT, strain gauge.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 632

Authors: E. Hemmati Vand, R. H. Oskouei, T. N. Chakherlou

Abstract:

In this paper, the details of an experimental method to measure the clamping force value at bolted connections due to application of wrenching torque to tighten the nut have been presented. A simplified bolted joint including a holed plate with a single bolt was considered to carry out the experiments. This method was designed based on Hooke-s law by measuring compressive axial strain of a steel bush placed between the nut and the plate. In the experimental procedure, the values of clamping force were calculated for seven different levels of applied torque, and this process was repeated three times for each level of the torque. Moreover, the effect of lubrication of threads on the clamping value was studied using the same method. In both conditions (dry and lubricated threads), relation between the torque and the clamping force have been displayed in graphs.

Keywords: Clamping force, Bolted joints, Experimental method, Lubrication.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 7617

Authors: Amr R. El-Gamal, Ashraf Essa, Ayman Ismail

Abstract:

The tension leg platform (TLP) is one of the compliant structures which are generally used for deep water oil exploration. With respect to the horizontal degrees of freedom, it behaves like a floating structure moored by vertical tethers which are pretension due to the excess buoyancy of the platform, whereas with respect to the vertical degrees of freedom, it is stiff and resembles a fixed structure and is not allowed to float freely. In the current study, a numerical study for square TLP using modified Morison equation was carried out in the time domain with water particle kinematics using Airy’s linear wave theory to investigate the effect of changing the tether tension force on the stiffness matrix of TLP's, the dynamic behavior of TLP's; and on the fatigue stresses in the cables. The effect was investigated for different parameters of the hydrodynamic forces such as wave periods, and wave heights. The numerical study takes into consideration the effect of coupling between various degrees of freedom. The stiffness of the TLP was derived from a combination of hydrostatic restoring forces and restoring forces due to cables. Nonlinear equation was solved using Newmark’s beta integration method. Only uni-directional waves in the surge direction was considered in the analysis. It was found that for short wave periods (i.e. 10 sec.), the surge response consisted of small amplitude oscillations about a displaced position that is significantly dependent on tether tension force, wave height; whereas for longer wave periods, the surge response showed high amplitude oscillations that is significantly dependent on wave height, and that special attention should be given to tethers fatigue because of their high tensile static and dynamic stress.

Keywords: Tethers tension, tension leg platforms, hydrodynamic wave forces, wave characteristic.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2890

Authors: M. Jahanandish, Gh. Sadeghian, M. H. Daneshvar, M. H. Jahanandish

Abstract:

The amount of resistance of a particular medium like soil to the moving objects is the interest of many areas in science. These include soil mechanics, geotechnical engineering, powder mechanics etc. Knowledge of drag force is also used for estimating the amount of momentum of fired objects like bullets. This paper focuses on measurement of drag force of sand on a cone when it moves at a low constant speed. A 30-degree apex angle cone has been used for this purpose. The study consisted of both loose and dense conditions of the soil. The applied speed has been in the range of 0.1 to 10 mm/min. The results indicate that the required force is basically independent of the cone speed; but, it is very dependent on the material densification and confining stress.

Keywords: Drag force, sand, moving speed, friction angle, densification, confining stress.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1319

Authors: War War Myint

Abstract:

Geometric design is an important part of planning process design for physical highway to fill up basic function of roads, to give good traffic service. It is found that most of the road safety problems occur at the horizontal curves and complex-compound curves. In this paper, review on Sagarinn-Myinsain Portion of Nay Pyi Taw - Mandalay highway has been conducted in aspect of geometric design induced road safety condition. Horizontal alignment of geometric features and curve details are reviewed based on (AASHTO) standard and revised by Autodesk Land Desktop Software. Moreover, 85th Percentile Operation Speeds (V85) with driver confidence on horizontal curves is evaluated in order to obtain the range of highway safety factor (FS). The length of the selected highway portion is 13.65 miles and 8 lanes. The results of this study can be used to investigate the possible hazardous locations in advance and to revise how design radius and super elevation should be for better road safety performance for the selected portion. Moreover, the relationship between highway safety and highway geometry characteristics can also be known.

Keywords: Geometric design; horizontal alignment; superelevation; 85th percentile operation speed (V85), safety factor (FS).

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1493

Authors: N. Z. Azlan, H. Yamaura

Abstract:

This paper presents the Function Approximation Technique (FAT) based adaptive impedance control for a robotic finger. The force based impedance control is developed so that the robotic finger tracks the desired force while following the reference position trajectory, under unknown environment position and uncertainties in finger parameters. The control strategy is divided into two phases, which are the free and contact phases. Force error feedback is utilized in updating the uncertain environment position during contact phase. Computer simulations results are presented to demonstrate the effectiveness of the proposed technique.

Keywords: Adaptive impedance control, force based impedance control, force control, Function Approximation Technique (FAT), unknown environment position.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1495

Authors: Ali Komakpanah, Maryam Yazdi

Abstract:

Few studies have been conducted on polymeric strip and the behavior of soil retaining walls. This paper will present the effect of frequency on the dynamic behavior of reinforced soil retaining walls with polymeric strips. The frequency content describes how the amplitude of a ground motion is distributed among different frequencies. Since the frequency content of an earthquake motion will strongly influence the effects of that motion, the characterization of the motion cannot be completed without the consideration of its frequency content. The maximum axial force of reinforcements and horizontal displacement of the reinforced walls are focused in this research. To clarify the dynamic behavior of reinforced soil retaining walls with polymeric strips, a numerical modeling using Finite Difference Method is benefited. As the results indicate, the frequency of input base acceleration has an important effect on the behavior of these structures. Because of resonant in the system, where the frequency of the input dynamic load is equal to the natural frequency of the system, the maximum horizontal displacement and the maximum axial forces in polymeric strips is occurred. Moreover, they were to increase the structure flexibility because of the main advantages of polymeric strips; i.e. being simple method of construction, having a homogeneous behavior with soils, and possessing long durability, which are of great importance in dynamic analysis.

Keywords: dynamic analysis, frequency, polymeric strip, reinforced soil.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2206

Authors: Hyeon-Seong Kim, Sang-Mi Park, Seul-Gi Kim, Seon-Ju Han, Leen-Seok Kang

Abstract:

The use of BIM, including 4D CAD system, in a construction project is gradually increasing. Since the building construction works repeatedly in the vertical space, it is relatively easy to confirm the interference effect when applying the BIM, but the interference effect for the civil engineering project is relatively small because the civil works perform non-repetitive processes in the horizontal space. For this reason, it is desirable to apply BIM to the construction phase when applying BIM to the civil engineering project, and the most active BIM tool applied to the construction phase is the 4D CAD function for the schedule management. This paper proposes the application procedure of BIM by the construction phase of civil engineering project and a linear 4D CAD construction methodology suitable for the civil engineering project in which linear work is performed.

Keywords: BIM, 4D CAD, Horizontal work area, Linear simulation, VR.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 972

Authors: Zone-Ching Lin, Hao-Yuan Jheng, Shih-Hung Ma

Abstract:

The present paper proposes using atomic force microscopy (AFM) and the concept of specific down force energy (SDFE) to establish a method for fabricating and cutting the burr for Y shape nanochannel on silicon (Si) substrate. For fabricating Y shape nanochannel, it first makes the experimental cutting path planning for fabricating Y shape nanochannel until the fifth cutting layer. Using the constant down force by AFM and SDFE theory and following the experimental cutting path planning, the cutting depth and width of each pass of Y shape nanochannel can be predicted by simulation. The paper plans the path for cutting the burr at the edge of Y shape nanochannel. Then, it carries out cutting the burr along the Y nanochannel edge by using a smaller down force. The height of standing burr at the edge is required to be below the set value of 0.54 nm. The results of simulation and experiment of fabricating and cutting the burr for Y shape nanochannel is further compared.

Keywords: Atomic force microscopy, nanochannel, specific down force energy, Y shape, burr, silicon.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1042

Authors: Barenten Suciu

Abstract:

In this work, effects of the friction and truncation on the dynamics of a double-cone gravitational motor, self-propelled on a straight V-shaped horizontal rail, are evaluated. Such mechanism has a variable radius of contact, and, on one hand, it is similar to a pulley mechanism that changes the potential energy into the kinetic energy of rotation, but on the other hand, it is similar to a pendulum mechanism that converts the potential energy of the suspended body into the kinetic energy of translation along a circular path. Movies of the self- propelled double-cones, made of S45C carbon steel and wood, along rails made of aluminum alloy, were shot for various opening angles of the rails. Kinematical features of the double-cones were estimated through the slow-motion processing of the recorded movies. Then, a kinematical model is derived under assumption that the distance traveled by the contact points on the rectilinear rails is identical with the distance traveled by the contact points on the truncated conical surface. Additionally, a dynamic model, for this particular contact problem, was proposed and validated against the experimental results. Based on such model, the traction force and the traction torque acting on the double-cone are identified. One proved that the rolling traction force is always smaller than the sliding friction force; i.e., the double-cone is rolling without slipping. Results obtained in this work can be used to achieve the proper design of such gravitational motor.

Keywords: Truncated double-cone, friction, rolling and sliding, dynamic model, gravitational motor.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1302